Micromouse is a world famous robotics competition where a small robot has to search, solve and speedrun a 16x16 maze. I joined a team with my two good friends Ricardo Alcaraz and Roswell Tiongco to attempt to build CSULB's best mouse yet.
Above you can see a short video of our first robot in action.
We wanted to create a very simple, easy to develop robot for our first attempt without worrying too much about speed. This is why we decided to use stepper motors, an arduino teensy and ultrasonic sensors. In hindsight, these were poor hardware choices but A LOT was learned in the process of developing this cute little tractor.
The main issue with the hardware is that the only input to the control system is the ultrasonic sensor readings. The ultrasonic measurements are too low resolution and lack the stability to base a reliable control system on. As a result, the robot only makes the end of the maze if we're lucky enough that it doesn't hit any walls.
The Real Deal
Using the experience and knowledge acquired developing the last robot, we are currently building (what will hopefully be) a very fast robot.
|Length||105mm (excluding "tail")||105mm|
|Tires||Kyosho MZT301-20 LM||Kyosho MZT301-20 LM (available on Ebay)|
|CPU||Tensilica Xtensa LX6 (in ESP-WROOM-32 module)||STM32F405RG|
|MCU features||160/240MhHz, 520KiB SRAM, Wi-Fi 802.11 b/g/n, Bluetooth v4.2 BR/DER and BLE||160Mhz, 192+4 Kbytes SRAM, 1MB Flash. 9 GPIO Ports of up to 16 pins each.|
|Power Regulation||TPS65400 - 5v 5A, 5V 4A, 2V 2A, 3.3V 0.5A, TPS61088 - 12V Boost||TPS65400 - 5v 5A, 5V 4A, 2V 2A, 3.3V 0.5A, TPS61088 - 12V Boost|
|Battery||Tattu 300mAh 7.4V 45C 2S1P LiPo||Tattu 300mAh 7.4V 45C 2S1P LiPo|
|Display||0.96 inch SSD1306 128x64 yellow/blue OLED||0.96 inch SSD1306 128x64 yellow/blue OLED|
|Motors/Encoders||n/a||Testing in progress|
|Ground effect fan||n/a||Testing in progress|